LinearActuator.cpp

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file LinearActuator.cpp
*  \Implementation of the LinearActuator class
*  \author $Author: bwilliam $
*  \version $Revision: 1.4 $
*  \date    $Date: 2006/06/27 15:24:31 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*! 
*/
//////////////////////////////////////////////////////////////////////////////////////////////////



#include "LinearActuator.h"
#include <Utils/Misc.h>
#include <Utils/CfgParse.h>

    //////////////////////////////////////////////////
    // Contructors/Deconstructors                   //
    //////////////////////////////////////////////////

        LinearActuator::LinearActuator()
        {
        }

        LinearActuator::~LinearActuator()
        {
        }

    //////////////////////////////////////////////////
    // Facilitators                                 //
    //////////////////////////////////////////////////

        int LinearActuator::TravelDistanceLimits(double Param_Distance)
        {
                m_PhysicalLinearActuator.TravelDistance(Param_Distance); 
        /*we may want to make this so that the hard limit is not ever truely reached*/

        return (0);
        }
        
        int LinearActuator::TravelDistanceChecks(double Param_Distance)
        {
                double currentposition=m_PhysicalLinearActuator.QueryCurrentPosition();

        if (Param_Distance >0)
                {if ((Param_Distance+currentposition) > m_PhysicalLinearActuator.UpperLimit)
                        {cout << "The distance is too great (positive)";
                        }
                else
                        {m_PhysicalLinearActuator.TravelDistance(Param_Distance);
                        }
                }
        else
                {if ((Param_Distance+currentposition) < m_PhysicalLinearActuator.LowerLimit)
                        {cout << "The distance is too great (negative)";
                        }
                else
                        {m_PhysicalLinearActuator.TravelDistance(Param_Distance);
                        }
                }

        return (0);
        }


        int LinearActuator::TravelPosition(double Param_Position)
        {
                m_PhysicalLinearActuator.TravelPosition(Param_Position);

        return (0);
        }

        int LinearActuator::SetVelocity(double velocity)
        {
                int error= m_PhysicalLinearActuator.SetVelocity(velocity);
                return error;
        }

        int LinearActuator::StartJog(int direction)
        {
                int error = m_PhysicalLinearActuator.StartJog(direction);     
                return error;
        }

        int LinearActuator::Stop()
        {
                int error =m_PhysicalLinearActuator.Stop();
                return error;
        } 

        int LinearActuator::Initialize(int Action, char *port)
        {
                int error=m_PhysicalLinearActuator.Initialize(Action, port);  
                return error;
        }

        int LinearActuator::Deinitialize()
        {
                m_PhysicalLinearActuator.Deinitialize();
                return 0;
        }


    //////////////////////////////////////////////////
    // Inspectors                                   //
    //////////////////////////////////////////////////


        double LinearActuator::GetCurrentPosition()
        {
                m_CurrentPosition=m_PhysicalLinearActuator.QueryCurrentPosition();
                return m_CurrentPosition;
        }

// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: LinearActuator.cpp,v $
*       Revision 1.4  2006/06/27 15:24:31  bwilliam
*       Added jog functions. Added port file name argument to initialization function.
*
*
*
*
****************************************************************************/

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